IHMC Open Robotics Software

0.11 Build Info

Build 4570 https://bamboo.ihmc.us/browse/LIBS-IHMCOPENROBOTICSSOFTWARE-1067

Tested Platforms

Robots

• Atlas
  • This release is fully tested on Atlas hardware. See 0.11 Release Notes for detailed results.

This release DOES NOT support the Valkyrie hardware platform, as we do not have hardware to test on.

Developers

We test all of our software on OS X 10.12 Sierra, Windows 7/8/10, and Ubuntu 14.04 and 16.04 LTS, Desktop and Server. It is likely to work on other platforms but not necessarily tested.

Branches

This repository uses the git-flow branching model. You can find more about git-flow here.

Licensing

All of the software in IHMC Open Robotics Software is licensed under the Apache 2.0 license.

Getting Started

Using IHMC Open Robotics Software .jar releases with Maven/Gradle

The release .jars for the various IHMC Open Robotics Software packages are hosted on Bintray. You can browse the release packages at https://bintray.com/ihmcrobotics/maven-release. Instructions for adding the Maven repository and identifying the artifacts can also be found on Bintray for each package.

At a minimum, you will need to have the following repositories declared in your build script to use IHMC Open Robotics Software .jars:

repositories {
   maven {
      url  "http://dl.bintray.com/ihmcrobotics/maven-release" // IHMC Code releases
   }
   maven {
      url  "http://dl.bintray.com/ihmcrobotics/maven-vendor" // Third-party libraries that we have vendored for various reasons
   }

   /* You will also need to add either jcenter() or mavenCentral() or both, depending on your preference */
}

Developing with IHMC Open Robotics Software from source

Requirements

IHMC Open Robotics Software uses the Gradle build system, and requires JDK 8 with JavaFX. We also strongly suggest an IDE, either Eclipse Mars.1 or IntelliJ IDEA 15+ (Ultimate or Community is fine). Currently, we require Gradle 4.1+. We provide a versioned Gradle wrapper for getting started quickly. The Gradle wrapper will always reflect the minimum version of Gradle required to build the software; if we adopt features only present in newer versions of Gradle as they are release we will update the wrapper. You can also install Gradle system-wide (local installation):

Installing Gradle: https://gradle.org/install/

IDE Support

Our Gradle models are tested in IntelliJ IDEA 2017.3+ (both Community and Ultimate) with the Gradle plugin. Eclipse Oxygen+ or higher with the Buildship plugin. The Buildship plugin is bundled with the Eclipse IDE for Java Developers (but not Java EE Developers). It can always be manually installed to any version of Eclipse using the [installation instructions] (https://github.com/eclipse/buildship/blob/master/docs/user/Installation.md).

Building .jars

IHMC Open Robotics Software is pre-configured for generating Maven publications. You can publish directly from the source code right in to your local Maven repository, e.g. the $HOME/.m2 directory. These builds will be tagged with a build "version" of "LOCAL" instead of an incrementing version number.

An example workflow for developing against a local clone of the software:

1. Clone IHMC Open Robotics Software
2. Make modifications
3. Publish to your local $HOME/.m2 repository

To publish jars to your local Maven repository:

$ cd /path/to/ihmc-open-robotics-software
$ ./gradlew compositeTask -PtaskName=publishToMavenLocal -PdepthFromWorkspaceDirectory=0 -PpublishMode=STABLE

To depend on the jars in your local Maven repository:

In this example we'll have a compile-time dependency of the locally built Simulation Construction Set project. In the build.gradle of the project you wish to have link against Simulation Construction Set:

repositories {
  mavenLocal()
  <your other repositories>
}

dependencies {
  compile group: 'us.ihmc', name: 'simulation-construction-set', version: 'LOCAL', changing: true
}

Depending directly on the source

For IHMC Open Robotics Software and ihmc-build to work correctly when depending directly on the source, your project hierarchy needs to take a particular form.

1. In your system home folder (or C:/ drive in Windows), create a directory called ihmc-workspace.
2. Initialize the ihmc-workspace directory as an IHMC repository group using the "Convert an existing project group" instructions in [this README] (https://github.com/ihmcrobotics/repository-group).
3. This is also the directory where you'll put any of your own projects that need to depend on IHMC source code. Your directory structure should look something like:

ihmc-workspace
├── build.gradle
├── settings.gradle
├── gradle.properties
├── MyProjectA
│   └── build.gradle
│   └── gradle.properties
├── MyProjectB
├── ihmc-open-robotics-software
│   └── acsell
│   └── atlas
│   └── common-walking-control-modules
├── MyProjectC
└── ...

If this is set up correctly, you can either apply the ihmc-build plugin from the Plugin portal and use the dependency resolver methods exposed by the build extensions, or you can manually identify dependencies on projects using the normal Gradle syntax for project dependencies. A sample build.gradle dependency block:

dependencies {
  compile project(':ihmc-open-robotics-software:ihmc-java-toolkit') // normal Gradle way of doing things
}

/* OR */

mainDependencies {
  compile group: "us.ihmc", name: "ihmc-java-toolkit", version: "source" // ihmc-build way of doing things
}

Support

Chat support is provided via the IHMC Robotics Slack on the #help-desk channel.

Maintainers

Duncan Calvert (dcalvert@ihmc.us) Doug Stephen (dstephen@ihmc.us) Stephen McCrory (smcrory@ihmc.us) Sylvain Bertrand (sbertrand@ihmc.us) Georg Wiedebach (gwiedebach@ihmc.us) Robert Griffin (rgriffin@ihmc.us)